EP3466865A1 - Method for securing a lifting boom crane and associated crane - Google Patents

Method for securing a lifting boom crane and associated crane Download PDF

Info

Publication number
EP3466865A1
EP3466865A1 EP18194339.0A EP18194339A EP3466865A1 EP 3466865 A1 EP3466865 A1 EP 3466865A1 EP 18194339 A EP18194339 A EP 18194339A EP 3466865 A1 EP3466865 A1 EP 3466865A1
Authority
EP
European Patent Office
Prior art keywords
boom
lifting
control
lowering
raising
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18194339.0A
Other languages
German (de)
French (fr)
Other versions
EP3466865B1 (en
Inventor
Nicolas Larmonier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Manitowoc Crane Group France SAS
Original Assignee
Manitowoc Crane Group France SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Manitowoc Crane Group France SAS filed Critical Manitowoc Crane Group France SAS
Publication of EP3466865A1 publication Critical patent/EP3466865A1/en
Application granted granted Critical
Publication of EP3466865B1 publication Critical patent/EP3466865B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements

Definitions

  • the present invention relates to a method for securing a luffing jib crane, and in particular a luffing jib crane, and a luffing jib crane adapted for such a securing method.
  • It relates more particularly to the field of luffing jib cranes equipped with a lifting winch incorporating a luffing motor coupled to at least one luffing cable for driving the jib lifting or affalement, such as in particular known from Documents FR2641773 and FR2892405 .
  • the invention proposes to provide a solution for securing an automated boom crane which guarantees a stop of the lifting or spreading movement when the actual speed of the boom deviates from the desired speed by the driver.
  • This method therefore makes it possible to monitor that the boom remains immobile when the driver does not order a lifting or spreading movement, by means of an automatic control of coherence between the command desired by the driver and the actual movement of the arrow, which makes it possible to get rid of the driver reaction.
  • the detection of a risk of breakage or jerk in the movement of the boom is therefore more systematic and safer.
  • boom movements that may have several causes, such as a coupling or speed reducer failure on the lift winch, an arrow collision causing a slowdown or a stop.
  • a lock of the boom lifting cable a blocking of pulleys located in the path of the lifting cable and which would prevent unwinding too much lifting cable, ie any disturbance (internal or external) that would occur in the kinematic chain, on the line of the lifting cable or which would act directly on the movement of the arrow.
  • this method makes it possible to meet an essential safety requirement which is to impose a stopping of the tilt motor, and therefore a stop of the lifting or spreading movement, when the actual speed of the arrow s' deviates from the desired speed by the driver of a predefined deviation, as for example a spacing of the order of 10%.
  • control / command system issues a stop command of the tilt motor when the difference between the actual angular speed of raising / lowering of the boom and the theoretical angular speed of raising / lowering of the boom is greater than a predefined threshold.
  • Such a threshold may be adapted to meet, for example, a safety standard or directive in the field of luffing jib cranes.
  • control / command system issues a stop command of the tilt motor when the difference between the actual angular speed of raising / lowering of the boom and the theoretical angular speed of raising / lowering of the boom is greater than at a predefined threshold for a predefined time interval.
  • control / command system calculates the theoretical angular speed of raising / lowering of the boom from, on the one hand, the engine control speed or the lifting / lowering setpoint, and on the other hand on the other hand, a kinematic model for raising / lowering the boom.
  • the kinematic model of raising / lowering of the boom is pre-established according to the structure and the dimensions of the boom and the lifting winch.
  • the method can be implemented for different cranes, and in particular for different sizes of crane or different mechanisms in the lifting winch or various return mechanisms in the lifting cable, adapting the kinematic model to each of the cranes.
  • the method is implemented in a luffing tower tower crane.
  • Such a crane is thus shaped and designed for the implementation of the security method as described above, with all the advantages already mentioned.
  • the crane is a luffing tower crane.
  • the invention may also be envisaged with luffing jib cranes other than luffing jib tower cranes, in particular with luffing jib cranes on wheels or crawlers or luffing jib cranes on a seagoing vessel.
  • the luffing jib crane 1, shown on the figure 1 here is a tower crane which comprises a vertical mast 2 anchored or movable on the ground, surmounted, by means of an orientation device, of a rotating part 3 mainly comprising a rotating pivot 30, a carrier arrow 31, a platform 32 (or against-arrow) on which is mounted a counterweight 33, and a luffing arrow 34.
  • the rotating pivot 30 is orientable about the vertical axis of the mast 2 and it supports a driving cabin (not shown on the figure 1 and visible schematically on the figure 2 under reference 20) of the crane 1.
  • the arrow holder 31 also designated as "punch”, is integral with the rotating pivot 30 and extends from the latter upwards and obliquely with a backward inclination.
  • the platform 32 extends substantially horizontally rearwards, from the pivot pivot 30, and it includes a lifting winch 4 described later, and the counterweight 33; this counterweight 33 can be mounted rolling under the platform 32.
  • This platform 32 is suspended from the boom holder 31, in its rear part, by means of tie rods 35.
  • various equipment which include, in particular, the lifting winch 4 for raising / lowering the boom 34 and a hoist winch 5 for lifting loads suspended on the boom 34.
  • the liftable boom 34 is formed by a lattice structure, for example of triangular section, and has a hinged rear end, about a horizontal axis, on the rotating pivot 30.
  • the hoist winch 5 has a drum on which is wound a hoisting rope 50, which passes over pulleys disposed on the boom holder 31, then is directed towards the tip of the luffing boom 34 and extends to a lifting hook 51, with or without hauling, the lifting loads being suspended from the hook 51 when using the crane 1.
  • the lifting winch 4 comprises a lifting motor 40 which drives in rotation, in both directions and via a gearbox 41, a lifting drum 42, around which is wound a lifting cable 43 which passes over pulleys 44 arranged at the top of the boom holder 31, which also passes over the pulleys of a lift block 45, located in front of the boom carrier 31.
  • the lifting block 45 is connected by a line of tie rods 46, the front part or "point" of the luffing jib 34.
  • the crane 1 comprises a control manipulator 6 lift speed for acquiring a set of This control manipulator 6 is placed in the driver's cab 20 and allows the crane driver to manually control the raising / lowering speed of the boom 34, its action on the control manipulator 6 resulting in a lifting / lowering instruction CO.
  • the crane 1 also comprises a variator 7, of the frequency converter type, which controls the tilt motor 40 by applying to the tilt motor 40 a motor control speed VCM as a function of the raising / lowering setpoint CO coming from the control manipulator. 6 lift speed.
  • the crane 1 also comprises an angle sensor 8 making it possible to measure an arrow angle ⁇ N, or the angle of the arrow 34, with respect to a reference axis 80, this reference axis 80 possibly being, for example, the axis horizontal as schematized on the figure 2 .
  • the crane 1 furthermore comprises a control / control system 9 connected to the angle sensor 8, to the control manipulator 6 and to the variator 7, where this control / control system 9 can be of the electronic card, controller, processor, computer terminal or a combination of these units.
  • control / command system 9 issues a stop command COM of the tilt motor 40 when the difference DIF enters the actual angular speed of raising / lowering VRE of the arrow 34 and the theoretical angular speed of raising / lowering VTH. of the arrow 34 is greater than a predefined SEU threshold during a predefined INT interval.
  • the kinematic model MOD for raising / lowering the boom is pre-established according to the structure and dimensions of the boom 34 and the lifting winch 4.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

Procédé de sécurisation d'une grue (1) à flèche (34) relevable, comprenant les étapes suivantes :
- acquisition d'une consigne de relevage/affalement ;
- pilotage d'un moteur de relevage (40) par un variateur (7) qui applique une vitesse de commande moteur en fonction de la consigne ;
- entraînement de la flèche en relevage ou en affalement par un câble de relevage (43) sous l'action du moteur de relevage ;
- calcul par un système de contrôle/commande (9) d'une vitesse angulaire théorique de relevage/affalement à partir de la vitesse de commande moteur ou de la consigne ;
- calcul par le système de contrôle/commande d'une vitesse angulaire réelle de relevage/affalement à partir d'un angle de flèche mesuré par un capteur d'angle ;
- comparaison entre la vitesse angulaire réelle et la vitesse angulaire théorique ;
- commande d'arrêt du moteur de relevage en fonction du résultat de la comparaison.

Figure imgaf001
A method of securing a luffing crane (1) (34) comprising the steps of:
- acquisition of a lifting / affalement instruction;
- driving a tilt motor (40) by a drive (7) which applies a motor control speed according to the setpoint;
- Driving the boom lifting or affalement by a lifting cable (43) under the action of the lift motor;
- calculation by a control / control system (9) of a theoretical angular rate of lift / affalement from the motor control speed or the setpoint;
- calculation by the control / command system of a real angular rate of lifting / affalement from an angle of deflection measured by an angle sensor;
- comparison between the actual angular velocity and the theoretical angular velocity;
- stop control of the tilt motor according to the result of the comparison.
Figure imgaf001

Description

La présente invention se rapporte à un procédé de sécurisation d'une grue à flèche relevable, et en particulier d'une grue à tour flèche relevable, ainsi qu'à une grue à flèche relevable adaptée pour un tel procédé de sécurisation.The present invention relates to a method for securing a luffing jib crane, and in particular a luffing jib crane, and a luffing jib crane adapted for such a securing method.

Elle se rapporte plus particulièrement au domaine des grues à flèche relevable équipées d'un treuil de relevage intégrant un moteur de relevage couplé à au moins un câble de relevage pour l'entraînement de la flèche en relevage ou en affalement, telles que notamment connues des documents FR2641773 et FR2892405 .It relates more particularly to the field of luffing jib cranes equipped with a lifting winch incorporating a luffing motor coupled to at least one luffing cable for driving the jib lifting or affalement, such as in particular known from Documents FR2641773 and FR2892405 .

L'invention s'intéresse à la sécurisation d'une grue à flèche relevable dans le cas d'un dysfonctionnement, notamment d'une défaillance au niveau du treuil de relevage, d'une condition météorologique défavorable, d'une collision ou d'une fausse manoeuvre qui conduit :

  • lors d'un affalement (ou abaissement) de la flèche, à avoir la flèche qui reste temporairement bloquée ou qui est suffisamment ralentie dans son affalement pour que le câble de relevage se détende jusqu'à générer un risque de rattrapage plus ou moins soudain du mou de câble ;
  • lors d'un relevage de la flèche, à avoir la flèche qui est accélérée dans son relevage (en particulier sous l'impulsion d'un vent qui pousse la flèche vers le haut) pour que le câble de relevage se détende jusqu'à générer également un risque de rattrapage plus ou moins soudain du mou de câble.
The invention concerns the securing of a luffing jib crane in the event of a malfunction, in particular of a failure in the hoist winch, of an unfavorable weather condition, of a collision or of a false maneuver that leads:
  • during a lowering (or lowering) of the boom, to have the boom which remains temporarily blocked or which is slowed sufficiently in its affalement so that the lifting cable relaxes until generating a risk of more or less sudden catching of the soft cable;
  • when raising the boom, to have the arrow that is accelerated in its lift (especially under the impulse of a wind that pushes the arrow upwards) so that the lifting cable relaxes to generate also a risk of catching more or less suddenly slack cable.

Suivant la violence de ce rattrapage, la flèche peut potentiellement basculer avec assez de force pour endommager la grue, voire conduire à la rupture du câble de relevage. Autrement dit, de tels déplacements intempestifs constituent des mouvements dangereux de la flèche, sources d'à-coups dynamiques ou de ruptures brusques dans le mouvement de la flèche en relevage ou en affalement.Depending on the violence of this retrofit, the boom can potentially rock with enough force to damage the crane, or even lead to breakage of the lifting cable. In other words, such inadvertent movements constitute dangerous movements of the arrow, sources of dynamic jolts or abrupt breaks in the movement of the boom lifting or in affalement.

Actuellement, seule une intervention manuelle du conducteur de la grue peut arrêter le mouvement de la flèche et ainsi éviter la prise de mou dans le câble de relevage, ce qui demande une attention continue de la part du conducteur lors de la conduite de la grue à tour dans ses phases de relevage et d'affalement.Currently, only a manual intervention of the crane driver can stop the movement of the boom and thus avoid slack in the lifting cable, which requires continuous attention from the driver when driving the crane to turn in its phases of lifting and affalement.

L'invention se propose d'apporter une solution pour la sécurisation d'une grue à flèche qui soit automatisée et qui garantisse un arrêt du mouvement de relevage ou d'affalement lorsque la vitesse réelle de la flèche s'écarte de la vitesse souhaitée par le conducteur.The invention proposes to provide a solution for securing an automated boom crane which guarantees a stop of the lifting or spreading movement when the actual speed of the boom deviates from the desired speed by the driver.

A cet effet, elle propose un procédé de sécurisation d'une grue à flèche relevable, comprenant les étapes suivantes :

  • acquisition d'une consigne de relevage/affalement de la flèche au moyen d'un manipulateur de commande de vitesse de relevage ;
  • pilotage d'un moteur de relevage d'un treuil de relevage par un variateur qui applique audit moteur de relevage une vitesse de commande moteur en fonction de la consigne de relevage/affalement ;
  • entraînement de la flèche en relevage ou en affalement par au moins un câble de relevage du treuil de relevage sous l'action du moteur de relevage appliquant la vitesse de commande moteur issue du variateur ;
  • acquisition par un système de contrôle/commande de la vitesse de commande moteur ou de la consigne de relevage/affalement ;
  • calcul par le système de contrôle/commande d'une vitesse angulaire théorique de relevage/affalement de la flèche à partir de la vitesse de commande moteur ou de la consigne de relevage/affalement ;
  • acquisition par le système de contrôle/commande d'un angle de flèche mesuré par un capteur d'angle ;
  • calcul par le système de contrôle/commande d'une vitesse angulaire réelle de relevage/affalement de la flèche à partir de l'angle de flèche mesuré ;
  • comparaison par le système de contrôle/commande entre la vitesse angulaire réelle de relevage/affalement de la flèche et la vitesse angulaire théorique de relevage/affalement de la flèche ;
  • commande d'arrêt du moteur de relevage par le système de contrôle/commande en fonction du résultat de la comparaison entre la vitesse angulaire réelle de relevage/affalement de la flèche et la vitesse angulaire théorique de relevage/affalement de la flèche.
For this purpose, it proposes a method of securing a luffing jib crane, comprising the following steps:
  • acquiring a lift / boom deflection instruction by means of a lift speed control manipulator;
  • controlling a lifting motor of a lifting winch by a variator which applies to said tilt motor an engine control speed according to the tilt / luffing setpoint;
  • driving the boom up or down by at least one lifting cable of the lifting winch under the action of the tilt motor applying the engine control speed from the drive;
  • acquisition by a control / command system of the engine control speed or of the lifting / lowering setpoint;
  • calculation by the control / command system of a theoretical angular speed of lifting / deflection of the boom from the engine control speed or the lifting / lowering setpoint;
  • acquisition by the control / command system of an angle of deflection measured by an angle sensor;
  • calculation by the control / command system of a real angular speed of lifting / deflection of the arrow from the measured deflection angle;
  • comparison by the control / command system between the actual angular speed of lifting / deflection of the boom and the theoretical angular speed of lifting / spreading of the boom;
  • control of stopping of the lifting motor by the control / control system according to the result of the comparison between the actual angular speed of lifting / deflection of the boom and the theoretical angular speed of lifting / spreading of the boom.

Ainsi, ce procédé de sécurisation permet de détecter automatiquement :

  • la cohérence de la vitesse angulaire réelle de relevage/affalement de la flèche par rapport à la vitesse angulaire théorique de relevage/affalement de la flèche qui correspond à la vitesse souhaitée par le conducteur qui agit sur le manipulateur de commande de vitesse de relevage ; et
  • toute incohérence entre la vitesse angulaire réelle de relevage/affalement de la flèche et la vitesse angulaire théorique de relevage/affalement, afin de se prémunir de tous les déplacements de la flèche non désirés et susceptibles de conduire à des conséquences néfastes pour la grue.
Thus, this security method makes it possible to automatically detect:
  • the consistency of the actual angular speed of lifting / deflection of the boom with respect to the theoretical angular speed of lifting / deflection of the boom which corresponds to the speed desired by the driver acting on the lift speed control manipulator; and
  • any inconsistency between the actual angular speed of raising / lowering of the boom and the theoretical angular speed of lifting / affalement, in order to guard against all the unwanted movements of the boom and likely to lead to adverse consequences for the crane.

Ce procédé permet donc de surveiller que la flèche reste bien immobile lorsque le conducteur n'ordonne pas de mouvement de relevage ou d'affalement, au moyen d'un contrôle automatique de cohérence entre la commande souhaitée par le conducteur et le mouvement réel de la flèche, ce qui permet de s'affranchir de la réaction de conducteur. La détection d'un risque de rupture ou d'à-coup dans le mouvement de la flèche est donc plus systématique et plus sécuritaire.This method therefore makes it possible to monitor that the boom remains immobile when the driver does not order a lifting or spreading movement, by means of an automatic control of coherence between the command desired by the driver and the actual movement of the arrow, which makes it possible to get rid of the driver reaction. The detection of a risk of breakage or jerk in the movement of the boom is therefore more systematic and safer.

Il permet également de détecter les déplacements non désirés de la flèche qui peuvent avoir plusieurs origines comme par exemple une défaillance d'un accouplement ou d'un réducteur de vitesse sur le treuil de relevage, une collision de la flèche occasionnant un ralentissement ou un arrêt en cours de mouvement, un blocage du câble de relevage de la flèche, un blocage de poulies situées sur le chemin du câble de relevage et qui empêcherait de dévider trop de câble de relevage, autrement dit toute perturbation (interne ou externe) qui interviendrait dans la chaine cinématique, sur la ligne du câble de relevage ou qui agirait directement sur le mouvement de la flèche.It also detects unwanted boom movements that may have several causes, such as a coupling or speed reducer failure on the lift winch, an arrow collision causing a slowdown or a stop. during movement, a lock of the boom lifting cable, a blocking of pulleys located in the path of the lifting cable and which would prevent unwinding too much lifting cable, ie any disturbance (internal or external) that would occur in the kinematic chain, on the line of the lifting cable or which would act directly on the movement of the arrow.

De manière plus large, ce procédé permet de répondre à une exigence essentielle de sécurité qui est d'imposer un arrêt du moteur de relevage, et donc un arrêt du mouvement de relevage ou d'affalement, lorsque la vitesse réelle de la flèche s'écarte de la vitesse souhaitée par le conducteur d'un écart prédéfini, comme par un exemple un écartement de l'ordre de 10%.In a broader manner, this method makes it possible to meet an essential safety requirement which is to impose a stopping of the tilt motor, and therefore a stop of the lifting or spreading movement, when the actual speed of the arrow s' deviates from the desired speed by the driver of a predefined deviation, as for example a spacing of the order of 10%.

Avec un tel procédé, en comparant la vitesse souhaitée par le conducteur (à savoir la vitesse angulaire théorique de relevage/affalement de la flèche) et la vitesse réelle appliquée à la flèche (à savoir la vitesse angulaire réelle de relevage/affalement de la flèche), il est ainsi mis en oeuvre une vérification de l'ensemble contrôle/commande, variateur et chaîne cinématique qui va au-delà d'une simple surveillance sur le treuil de relevage.With such a method, comparing the desired speed by the driver (i.e. the theoretical angular speed of raising / lowering of the boom) and the actual speed applied to the boom (namely the actual angular speed of lifting / deflection of the boom ), it is thus implemented a verification of the control / command, drive and drive train assembly that goes beyond a simple monitoring on the lifting winch.

Selon une caractéristique, le système de contrôle/commande émet une commande d'arrêt du moteur de relevage lorsque la différence entre la vitesse angulaire réelle de relevage/affalement de la flèche et la vitesse angulaire théorique de relevage/affalement de la flèche est supérieure à un seuil prédéfini.According to one characteristic, the control / command system issues a stop command of the tilt motor when the difference between the actual angular speed of raising / lowering of the boom and the theoretical angular speed of raising / lowering of the boom is greater than a predefined threshold.

Un tel seuil peut être adapté pour répondre par exemple à une norme ou à une directive en matière de sécurité dans le domaine des grues à flèche relevable.Such a threshold may be adapted to meet, for example, a safety standard or directive in the field of luffing jib cranes.

Selon une autre caractéristique, le système de contrôle/commande émet une commande d'arrêt du moteur de relevage lorsque la différence entre la vitesse angulaire réelle de relevage/affalement de la flèche et la vitesse angulaire théorique de relevage/affalement de la flèche est supérieure à un seuil prédéfini pendant un intervalle de temps prédéfini.According to another characteristic, the control / command system issues a stop command of the tilt motor when the difference between the actual angular speed of raising / lowering of the boom and the theoretical angular speed of raising / lowering of the boom is greater than at a predefined threshold for a predefined time interval.

Dans une réalisation particulière, le système de contrôle/commande calcule la vitesse angulaire théorique de relevage/affalement de la flèche à partir, d'une part, de la vitesse de commande moteur ou de la consigne de relevage/affalement et, d'autre part, d'un modèle cinématique de relevage/affalement de la flèche.In a particular embodiment, the control / command system calculates the theoretical angular speed of raising / lowering of the boom from, on the one hand, the engine control speed or the lifting / lowering setpoint, and on the other hand on the other hand, a kinematic model for raising / lowering the boom.

Selon une possibilité de l'invention, le modèle cinématique de relevage/affalement de la flèche est préétabli en fonction de la structure et des dimensions de la flèche et du treuil de relevage.According to a possibility of the invention, the kinematic model of raising / lowering of the boom is pre-established according to the structure and the dimensions of the boom and the lifting winch.

Ainsi, le procédé peut être mis en oeuvre pour différentes grues, et notamment pour différentes tailles de grue ou différents mécanismes dans le treuil de relevage ou différents mécanismes de renvoi dans le câble de relevage, en adaptant le modèle cinématique à chacune des grues.Thus, the method can be implemented for different cranes, and in particular for different sizes of crane or different mechanisms in the lifting winch or various return mechanisms in the lifting cable, adapting the kinematic model to each of the cranes.

Selon une autre possibilité de l'invention, le procédé est mis en oeuvre dans une grue à tour à flèche relevable.According to another possibility of the invention, the method is implemented in a luffing tower tower crane.

L'invention se rapporte également à une grue à flèche relevable comprenant :

  • un manipulateur de commande de vitesse de relevage permettant l'acquisition d'une consigne de relevage/affalement de la flèche ;
  • un treuil de relevage intégrant un moteur de relevage et au moins un câble de relevage pour l'entraînement de la flèche en relevage ou en affalement ;
  • un variateur pilotant le moteur de relevage en appliquant audit moteur de relevage une vitesse de commande moteur en fonction de la consigne de relevage/affalement issue du manipulateur de commande de vitesse de relevage ;
  • un capteur d'angle permettant une mesure d'un angle de flèche ;
  • un système de contrôle/commande conformé pour :
    • acquérir l'angle de flèche mesuré par le capteur d'angle ;
    • calculer une vitesse angulaire réelle de relevage/affalement de la flèche à partir de l'angle de flèche mesuré ;
    • acquérir la vitesse de commande moteur ou la consigne de relevage/affalement ;
    • calculer une vitesse angulaire théorique de relevage/affalement de la flèche à partir de la vitesse de commande moteur ou de la consigne de relevage/affalement ;
    • comparer la vitesse angulaire réelle de relevage/affalement de la flèche et la vitesse angulaire théorique de relevage/affalement de la flèche ;
    • commander l'arrêt du moteur de relevage en fonction du résultat de la comparaison entre la vitesse angulaire réelle de relevage/affalement de la flèche et la vitesse angulaire théorique de relevage/affalement de la flèche.
The invention also relates to a luffing jib crane comprising:
  • a lift speed control manipulator for acquiring a luffing / deflection instruction;
  • a lifting winch incorporating a lifting motor and at least one lifting cable for driving the boom up or down;
  • a drive controlling the tilt motor by applying to said tilt motor an engine control speed according to the tilt / luffing setpoint from the tilt speed control manipulator;
  • an angle sensor for measuring an arrow angle;
  • a consistent control / command system for:
    • acquire the angle of deflection measured by the angle sensor;
    • calculate a true angular velocity of lifting / deflection of the arrow from the measured deflection angle;
    • Acquire the engine control speed or the lifting / lowering setpoint;
    • calculating a theoretical angular speed of raising / lowering of the deflection from the engine control speed or the lifting / lowering setpoint;
    • compare the actual angular speed of lifting / deflection of the boom and the theoretical angular speed of lifting / spreading of the boom;
    • order the stopping of the tilt motor as a function of the result of the comparison between the actual angular speed of lifting / deflection of the boom and the theoretical angular speed of lifting / spreading of the boom.

Une telle grue est ainsi conformée et conçue pour la mise en oeuvre du procédé de sécurisation tel que décrit précédemment, avec tous les avantages déjà évoqués.Such a crane is thus shaped and designed for the implementation of the security method as described above, with all the advantages already mentioned.

Selon une possibilité, la grue est une grue à tour à flèche relevable.According to one possibility, the crane is a luffing tower crane.

L'invention peut aussi être envisagée avec des grues à flèche relevable autres que les grues à tour à flèche relevable, notamment avec des grues à flèche relevable mobiles sur roues ou sur chenilles ou des grues à flèche relevable sur un navire maritime.The invention may also be envisaged with luffing jib cranes other than luffing jib tower cranes, in particular with luffing jib cranes on wheels or crawlers or luffing jib cranes on a seagoing vessel.

D'autres caractéristiques et avantages de la présente invention apparaîtront à la lecture de la description détaillée ci-après, d'un exemple de mise en oeuvre non limitatif, faite en référence aux figures annexées dans lesquelles :

  • la figure 1 est une vue d'ensemble latérale d'un exemple de grue à flèche relevable adaptée pour la mise en oeuvre de l'invention, avec indication de deux positions de la flèche relevable ;
  • la figure 2 est une vue schématique d'une grue à flèche relevable selon l'invention ;
  • la figure 3 est une vue schématique des principaux éléments nécessaires à la mise en oeuvre du procédé selon l'invention ; et
  • la figure 4 est une vue schématique des calculs mis en oeuvre par le système de contrôle/commande lors du procédé de sécurisation.
Other features and advantages of the present invention will appear on reading the detailed description below, of an example of non-limiting implementation, with reference to the appended figures in which:
  • the figure 1 is a lateral overview of an example of a luffing jib crane adapted for the implementation of the invention, with indication of two positions of the luffing jib;
  • the figure 2 is a schematic view of a luffing jib crane according to the invention;
  • the figure 3 is a schematic view of the main elements necessary for carrying out the method according to the invention; and
  • the figure 4 is a schematic view of the calculations implemented by the control / command system during the security process.

La grue a flèche relevable 1, représentée sur la figure 1, est ici une grue à tour qui comprend un mât 2 vertical ancré ou mobile sur le sol, surmontée, par l'intermédiaire d'un dispositif d'orientation, d'une partie tournante 3 comprenant principalement un pivot tournant 30, un porte-flèche 31, une plateforme 32 (ou contre-flèche) sur laquelle est monté un contrepoids 33, et une flèche 34 relevable.The luffing jib crane 1, shown on the figure 1 here is a tower crane which comprises a vertical mast 2 anchored or movable on the ground, surmounted, by means of an orientation device, of a rotating part 3 mainly comprising a rotating pivot 30, a carrier arrow 31, a platform 32 (or against-arrow) on which is mounted a counterweight 33, and a luffing arrow 34.

Le pivot tournant 30 est orientable autour de l'axe vertical du mat 2 et il supporte une cabine de conduite (non illustrée sur la figure 1 et visible schématiquement sur la figure 2 sous la référence 20) de la grue 1.The rotating pivot 30 is orientable about the vertical axis of the mast 2 and it supports a driving cabin (not shown on the figure 1 and visible schematically on the figure 2 under reference 20) of the crane 1.

Le porte-flèche 31, aussi désigné comme "poinçon", est solidaire du pivot tournant 30 et s'étend à partir de ce dernier vers le haut et en oblique avec une inclinaison vers l'arrière.The arrow holder 31, also designated as "punch", is integral with the rotating pivot 30 and extends from the latter upwards and obliquely with a backward inclination.

La plateforme 32 s'étend sensiblement horizontalement vers l'arrière, à partir du pivot tournant 30, et elle porte notamment un treuil de relevage 4 décrit ultérieurement, ainsi que le contrepoids 33 ; ce contrepoids 33 pouvant être monté roulant sous la plateforme 32. Cette plateforme 32 est suspendue au porte-flèche 31, dans sa partie arrière, au moyen de tirants de liaison 35.The platform 32 extends substantially horizontally rearwards, from the pivot pivot 30, and it includes a lifting winch 4 described later, and the counterweight 33; this counterweight 33 can be mounted rolling under the platform 32. This platform 32 is suspended from the boom holder 31, in its rear part, by means of tie rods 35.

Sur la plateforme 32 sont supportés divers équipements qui comprennent, en particulier, le treuil de relevage 4 pour le relevage/affalement de la flèche 34 et un treuil de levage 5 pour le levage des charges suspendues sur la flèche 34.On the platform 32 are supported various equipment which include, in particular, the lifting winch 4 for raising / lowering the boom 34 and a hoist winch 5 for lifting loads suspended on the boom 34.

La flèche 34 relevable est formée par une structure en treillis, par exemple de section triangulaire, et elle présente une extrémité arrière articulée, autour d'un axe horizontal, sur le pivot tournant 30.The liftable boom 34 is formed by a lattice structure, for example of triangular section, and has a hinged rear end, about a horizontal axis, on the rotating pivot 30.

Le treuil de levage 5 possède un tambour sur lequel est enroulé un câble de levage 50, lequel passe sur des poulies disposées sur le porte-flèche 31, puis est dirigé vers la pointe de la flèche relevable 34 et s'étend jusqu'à un crochet de levage 51, avec ou sans mouflage, les charges à lever étant suspendues au crochet 51 lors de l'utilisation de la grue 1.The hoist winch 5 has a drum on which is wound a hoisting rope 50, which passes over pulleys disposed on the boom holder 31, then is directed towards the tip of the luffing boom 34 and extends to a lifting hook 51, with or without hauling, the lifting loads being suspended from the hook 51 when using the crane 1.

En référence aux figures 1 et 2, le treuil de relevage 4 comprend un moteur de relevage 40 qui entraîne en rotation, dans les deux sens et via un réducteur 41, un tambour de relevage 42, autour duquel est enroulé un câble de relevage 43 qui passe sur des poulies 44 disposées au sommet du porte-flèche 31, et qui passe aussi sur les poulies d'une moufle de relevage 45, située en avant du porte-flèche 31. La moufle de relevage 45 est quant à elle reliée, par une ligne de tirants 46, a la partie avant ou "pointe" de la flèche relevable 34.With reference to figures 1 and 2 , the lifting winch 4 comprises a lifting motor 40 which drives in rotation, in both directions and via a gearbox 41, a lifting drum 42, around which is wound a lifting cable 43 which passes over pulleys 44 arranged at the top of the boom holder 31, which also passes over the pulleys of a lift block 45, located in front of the boom carrier 31. The lifting block 45 is connected by a line of tie rods 46, the front part or "point" of the luffing jib 34.

En référence à la figure 2, la grue 1 comprend un manipulateur de commande 6 de vitesse de relevage permettant l'acquisition d'une consigne de relevage/affalement CO de la flèche 34. Ce manipulateur de commande 6 est placé dans la cabine de conduite 20 et permet au conducteur de grue de commander manuellement la vitesse de relevage/affalement de la flèche 34, son action sur le manipulateur de commande 6 se traduisant par une consigne de relevage/affalement CO.With reference to the figure 2 , the crane 1 comprises a control manipulator 6 lift speed for acquiring a set of This control manipulator 6 is placed in the driver's cab 20 and allows the crane driver to manually control the raising / lowering speed of the boom 34, its action on the control manipulator 6 resulting in a lifting / lowering instruction CO.

La grue 1 comprend également un variateur 7, de type variateur de fréquence, qui pilote le moteur de relevage 40 en appliquant au moteur de relevage 40 une vitesse de commande moteur VCM en fonction de la consigne de relevage/affalement CO issue du manipulateur de commande 6 de vitesse de relevage.The crane 1 also comprises a variator 7, of the frequency converter type, which controls the tilt motor 40 by applying to the tilt motor 40 a motor control speed VCM as a function of the raising / lowering setpoint CO coming from the control manipulator. 6 lift speed.

La grue 1 comprend aussi un capteur d'angle 8 permettant une mesure d'un angle de flèche AN, ou angle de la flèche 34, par rapport à un axe de référence 80, cet axe de référence 80 pouvant par exemple être l'axe horizontal comme schématisé sur la figure 2.The crane 1 also comprises an angle sensor 8 making it possible to measure an arrow angle ΔN, or the angle of the arrow 34, with respect to a reference axis 80, this reference axis 80 possibly being, for example, the axis horizontal as schematized on the figure 2 .

La grue 1 comprend en outre un système de contrôle/commande 9 relié au capteur d'angle 8, au manipulateur de commande 6 et au variateur 7, où ce système de contrôle/commande 9 peut être du type carte électronique, contrôleur, processeur, terminal informatique ou une combinaison de ces unités.The crane 1 furthermore comprises a control / control system 9 connected to the angle sensor 8, to the control manipulator 6 and to the variator 7, where this control / control system 9 can be of the electronic card, controller, processor, computer terminal or a combination of these units.

Le système de contrôle/commande 9 est conformé pour :

  • acquérir l'angle de flèche AN mesuré par le capteur d'angle 8 ;
  • calculer une vitesse angulaire réelle de relevage/affalement VRE de la flèche 34 à partir de l'angle de flèche AN mesuré ;
  • acquérir la vitesse de commande moteur VCM ou la consigne de relevage/affalement CO ;
  • calculer une vitesse angulaire théorique de relevage/affalement VTH de la flèche 34 à partir, d'une part, de la vitesse de commande moteur VCM ou de la consigne de relevage/affalement CO et, d'autre part, d'un modèle cinématique MOD de relevage/affalement de la flèche 34 ;
  • comparer la vitesse angulaire réelle de relevage/affalement VRE de la flèche 34 et la vitesse angulaire théorique de relevage/affalement VTH de la flèche 34 ;
  • commander l'arrêt du moteur de relevage 40 en fonction du résultat de la comparaison entre la vitesse angulaire réelle de relevage/affalement VRE de la flèche 34 et la vitesse angulaire théorique de relevage/affalement VTH de la flèche 34.
The control / command system 9 is configured for:
  • acquire the angle of arrow AN measured by the angle sensor 8;
  • calculate a real angular velocity of raising / afferring ERV of the arrow 34 from the measured angle of arrow AN;
  • acquiring the VCM motor control speed or the CO lifting / lowering setpoint;
  • calculate a theoretical angular velocity of raising / lowering VTH of the arrow 34 from, on the one hand, the VCM motor control speed or the CO lifting / lowering setpoint and, on the other hand, a kinematic model MOD lifting / spreading of the boom 34;
  • comparing the actual angular velocity of raising / affeling VRE of the arrow 34 and the theoretical angular velocity of lifting / affine VTH of the arrow 34;
  • control the stopping of the lifting motor 40 as a function of the result of the comparison between the actual angular speed of raising / lowering ERV of the arrow 34 and the theoretical angular speed of raising / lowering VTH of the arrow 34.

Plus précisément, le système de contrôle/commande 9 émet une commande d'arrêt COM du moteur de relevage 40 lorsque la différence DIF entre la vitesse angulaire réelle de relevage/affalement VRE de la flèche 34 et la vitesse angulaire théorique de relevage/affalement VTH de la flèche 34 est supérieure à un seuil SEU prédéfini pendant un intervalle de temps INT prédéfini.More precisely, the control / command system 9 issues a stop command COM of the tilt motor 40 when the difference DIF enters the actual angular speed of raising / lowering VRE of the arrow 34 and the theoretical angular speed of raising / lowering VTH. of the arrow 34 is greater than a predefined SEU threshold during a predefined INT interval.

Le modèle cinématique MOD de relevage/affalement de la flèche est préétabli en fonction de la structure et des dimensions de la flèche 34 et du treuil de relevage 4.The kinematic model MOD for raising / lowering the boom is pre-established according to the structure and dimensions of the boom 34 and the lifting winch 4.

En référence aux figures 2 à 4, le procédé de sécurisation selon l'invention met donc en oeuvre les étapes suivantes :

  • acquisition de la consigne de relevage/affalement CO de la flèche au moyen d'un manipulateur de commande de vitesse de relevage ;
  • réception par le variateur 7 de la consigne de relevage/affalement CO ;
  • pilotage par le variateur 7 du moteur de relevage 40 en appliquant au moteur de relevage 40 une vitesse de commande moteur VCM en fonction de la consigne de relevage/affalement CO ;
  • entraînement de la flèche 34 en relevage ou en affalement par le câble de relevage 43 sous l'action du moteur de relevage 40, via le réducteur 41, en appliquant la vitesse de commande moteur VCM issue du variateur 7 ;
  • acquisition par le système de contrôle/commande 9 de la vitesse de commande moteur VCM ou de la consigne de relevage/affalement CO ;
  • calcul par le système de contrôle/commande 9 de la vitesse angulaire théorique de relevage/affalement VTH de la flèche 34 à partir, d'une part, de la vitesse de commande moteur VCM ou de la consigne de relevage/affalement CO et, d'autre part, du modèle cinématique MOD de relevage/affalement de la flèche 34 ;
  • acquisition par le système de contrôle/commande 9 de l'angle de flèche AN mesuré par le capteur d'angle 8 ;
  • calcul par le système de contrôle/commande 9 d'une vitesse angulaire réelle de relevage/affalement VRE de la flèche 34 à partir de l'angle de flèche AN mesuré ;
  • comparaison par le système de contrôle/commande 9 entre la vitesse angulaire réelle de relevage/affalement VRE de la flèche 34 et la vitesse angulaire théorique de relevage/affalement VTH de la flèche 34, en comparant pour rappel leur différence DIF avec le seuil SEU prédéfini sur un intervalle de temps INT prédéfini ;
  • envoi d'une commande d'arrêt COM du moteur de relevage 40 par le système de contrôle/commande 9 en fonction du résultat de la comparaison entre la vitesse angulaire réelle de relevage/affalement VRE de la flèche 34 et la vitesse angulaire théorique de relevage/affalement VTH de la flèche 34, cette commande d'arrêt COM pouvant être adressée au variateur 7 qui pilote le moteur de relevage 40 ou bien directement au moteur de relevage 40.
With reference to Figures 2 to 4 , the security method according to the invention therefore implements the following steps:
  • Acquisition of the CO boom lifting / averaging instruction by means of a lift speed control manipulator;
  • reception by the variator 7 of the lifting / averaging setpoint CO;
  • control by the variator 7 of the tilt motor 40 by applying to the tilt motor 40 a VCM motor control speed according to the tilt / spread set point CO;
  • driving the boom 34 up or down by the lifting cable 43 under the action of the tilt motor 40, via the gearbox 41, applying the motor control speed VCM from the drive 7;
  • acquisition by the control / command system 9 of the motor control speed VCM or of the lifting / lowering set point CO;
  • calculation by the control / control system 9 of the theoretical angular velocity of raising / lowering VTH of the arrow 34 from, on the one hand, the motor control speed VCM or the raising / lowering set point CO and, d on the other hand, the kinematic model MOD for raising / lowering the boom 34;
  • acquisition by the control / control system 9 of the arrow angle AN measured by the angle sensor 8;
  • calculation by the control / command system 9 of a real angular velocity of lifting / affalement VRE of the arrow 34 from the measured angle of arrow AN;
  • comparison by the control / command system 9 between the actual angular velocity of raising / lowering VRE of the arrow 34 and the theoretical angular velocity of lifting / affeling VTH of the arrow 34, by comparing as a reminder of their DIF difference with the predefined SEU threshold over a predefined INT time interval;
  • sending a stop command COM of the tilt motor 40 by the control / command system 9 as a function of the result of the comparison between the actual angular speed of raising / lowering VRE of the arrow 34 and the theoretical angular speed of lifting VTH of the arrow 34, this stop command COM can be addressed to the drive 7 which controls the tilt motor 40 or directly to the tilt motor 40.

Bien entendu, l'invention ne se limite pas à la seule forme de réalisation de cette grue 1 à flèche 34 relevable qui a été décrite ci-dessus, à titre d'exemple et elle embrasse, au contraire, toutes les variantes de construction et d'application respectant le même principe. En particulier, l'on ne s'éloignerait pas du cadre de l'invention :

  • en modifiant ou en complétant le treuil de relevage ;
  • en modifiant le chemin du câble de relevage ;
  • en modifiant l'ordre de certaines étapes du procédé de sécurisation ;
  • en destinant le même procédé de sécurisation à des appareils de levage autres que les grues à tour à flèche relevable, notamment aux grues mobiles sur roues ou sur chenilles.
Of course, the invention is not limited to the sole embodiment of this luffing boom crane 1 which has been described above, by way of example and embraces, on the contrary, all the variants of construction and application respecting the same principle. In particular, one would not depart from the scope of the invention:
  • by modifying or completing the lifting winch;
  • by modifying the path of the lifting cable;
  • by modifying the order of certain steps of the security method;
  • by applying the same safety method to lifting devices other than luffing jib tower cranes, in particular mobile cranes on wheels or crawlers.

Claims (8)

Procédé de sécurisation d'une grue (1) à flèche (34) relevable, comprenant les étapes suivantes : - acquisition d'une consigne de relevage/affalement (CO) de la flèche (34) au moyen d'un manipulateur de commande (6) de vitesse de relevage ; - pilotage d'un moteur de relevage (40) d'un treuil de relevage (4) par un variateur (7) qui applique audit moteur de relevage (40) une vitesse de commande moteur (VCM) en fonction de la consigne de relevage/affalement (CO) ; - entraînement de la flèche (34) en relevage ou en affalement par au moins un câble de relevage (43) du treuil de relevage (4) sous l'action du moteur de relevage (40) appliquant la vitesse de commande moteur (VCM) issue du variateur (7) ; - acquisition par un système de contrôle/commande (9) de la vitesse de commande moteur (VCM) ou de la consigne de relevage/affalement (CO) ; - calcul par le système de contrôle/commande (9) d'une vitesse angulaire théorique de relevage/affalement (VTH) de la flèche (34) à partir de la vitesse de commande moteur (VCM) ou de la consigne de relevage/affalement (CO) ; - acquisition par le système de contrôle/commande (9) d'un angle de flèche (AN) mesuré par un capteur d'angle (8) ; - calcul par le système de contrôle/commande (9) d'une vitesse angulaire réelle de relevage/affalement (VRE) de la flèche (34) à partir de l'angle de flèche (AN) mesuré ; - comparaison par le système de contrôle/commande (9) entre la vitesse angulaire réelle de relevage/affalement (VRE) de la flèche (34) et la vitesse angulaire théorique de relevage/affalement (VTH) de la flèche (34) ; - commande d'arrêt (COM) du moteur de relevage (40) par le système de contrôle/commande (9) en fonction du résultat de la comparaison entre la vitesse angulaire réelle de relevage/affalement (VRE) de la flèche (34) et la vitesse angulaire théorique de relevage/affalement (VTH) de la flèche (34). A method of securing a luffing crane (1) (34) comprising the steps of: - Acquisition of a lift instruction / affalement (CO) of the boom (34) by means of a manipulator control (6) lift speed; - Control of a tilt motor (40) of a tilt winch (4) by a variator (7) which applies to said tilt motor (40) a motor control speed (VCM) according to the tilt setpoint / affinity (CO); - driving the boom (34) up or down by at least one lifting cable (43) of the lifting winch (4) under the action of the lifting motor (40) applying the engine control speed (VCM) from the drive (7); - Acquisition by a control / command system (9) of the engine control speed (VCM) or the tilt / lower setpoint (CO); - Calculation by the control / command system (9) of a theoretical angular speed of raising / lowering (VTH) of the boom (34) from the engine control speed (VCM) or the tilt / set reference (CO); - acquisition by the control / command system (9) of an angle of deflection (AN) measured by an angle sensor (8); - calculation by the control / control system (9) of a real angular velocity of lift / affalement (VRE) of the arrow (34) from the angle of deflection (AN) measured; - comparison by the control / command system (9) between the actual angular speed of raising / lowering (VRE) of the boom (34) and the theoretical angular rate of lifting / affeling (VTH) of the boom (34); - stop command (COM) of the tilt motor (40) by the control / command system (9) as a function of the result of the comparison between the actual angular speed of raising / lowering (VRE) of the boom (34) and the theoretical angular velocity of raising / lowering (VTH) of the boom (34). Procédé de sécurisation selon la revendication 1, dans lequel le système de contrôle/commande (9) émet la commande d'arrêt (COM) du moteur de relevage (40) lorsque la différence entre la vitesse angulaire réelle de relevage/affalement (VRE) de la flèche (34) et la vitesse angulaire théorique de relevage/affalement (VTH) de la flèche (34) est supérieure à un seuil (SEU) prédéfini.A method of securing according to claim 1, wherein the control / command system (9) outputs the stop command (COM) of the tilt motor (40) when the difference between the angular velocity actual raising / lowering (VRE) of the boom (34) and the theoretical angular rate of raising / lowering (VTH) of the boom (34) is greater than a threshold (SEU) predefined. Procédé de sécurisation selon la revendication 2, dans lequel le système de contrôle/commande (9) émet la commande d'arrêt (COM) du moteur de relevage (40) lorsque la différence entre la vitesse angulaire réelle de relevage/affalement (VRE) de la flèche (34) et la vitesse angulaire théorique de relevage/affalement (VTH) de la flèche (34) est supérieure à un seuil (SEU) prédéfini pendant un intervalle de temps (INT) prédéfini.A method of securing according to claim 2, wherein the control / command system (9) outputs the stop command (COM) of the lift motor (40) when the difference between the actual angular rate of lift / spread (ERV) of the arrow (34) and the theoretical angular rate of raising / lowering (VTH) of the arrow (34) is greater than a threshold (SEU) predefined during a predefined time interval (INT). Procédé de sécurisation selon l'une quelconque des revendications 1 à 3, dans lequel le système de contrôle/commande (9) calcule la vitesse angulaire théorique de relevage/affalement (VTH) de la flèche (34) à partir, d'une part, de la vitesse de commande moteur (VCM) ou de la consigne de relevage/affalement (CO) et, d'autre part, d'un modèle cinématique (MOD) de relevage/affalement de la flèche (34).Securing method according to any one of claims 1 to 3, wherein the control / control system (9) calculates the theoretical angular rate of raising / lowering (VTH) of the boom (34) from, on the one hand , the engine control speed (VCM) or the tilt / lower setpoint (CO) and, on the other hand, a kinematic model (MOD) for raising / lowering the boom (34). Procédé de sécurisation selon la revendication 4, dans lequel le modèle cinématique (MOD) de relevage/affalement de la flèche (34) est préétabli en fonction de la structure et des dimensions de la flèche (34) et du treuil de relevage (4).A method of securing according to claim 4, wherein the kinematic model (MOD) for raising / lowering the boom (34) is preset according to the structure and dimensions of the boom (34) and the lifting winch (4) . Procédé de sécurisation selon l'une quelconque des revendications 1 à 5, dans lequel le procédé est mis en oeuvre dans une grue (1) à tour à flèche (34) relevable.A method of securing according to any one of claims 1 to 5, wherein the method is implemented in a lifting tower crane (1) (34). Grue (1) à flèche (34) relevable comprenant : - un manipulateur de commande (6) de vitesse de relevage permettant l'acquisition d'une consigne de relevage/affalement (CO) de la flèche (34) ; - un treuil de relevage (4) intégrant un moteur de relevage (40) et au moins un câble de relevage (43) pour l'entraînement de la flèche (34) en relevage ou en affalement ; - un variateur (7) pilotant le moteur de relevage (40) en appliquant audit moteur de relevage (40) une vitesse de commande moteur (VCM) en fonction de la consigne de relevage/affalement (CO) issue du manipulateur de commande (6) de vitesse de relevage ; - un capteur d'angle (8) permettant une mesure d'un angle de flèche (AN) ; - un système de contrôle/commande (9) conformé pour : - acquérir l'angle de flèche (AN) mesuré par le capteur d'angle (8) ; - calculer une vitesse angulaire réelle de relevage/affalement (VRE) de la flèche (34) à partir de l'angle de flèche (AN) mesuré ; - acquérir la vitesse de commande moteur (VCM) ou la consigne de relevage/affalement (CO) ; - calculer une vitesse angulaire théorique de relevage/affalement (VTH) de la flèche (34) à partir de la vitesse de commande moteur (VCM) ou de la consigne de relevage/affalement (CO) ; - comparer la vitesse angulaire réelle de relevage/affalement (VRE) de la flèche (34) et la vitesse angulaire théorique de relevage/affalement (VTH) de la flèche (34) ; - commander l'arrêt du moteur de relevage (40) en fonction du résultat de la comparaison entre la vitesse angulaire réelle de relevage/affalement (VRE) de la flèche (34) et la vitesse angulaire théorique de relevage/affalement (VTH) de la flèche (34). Lifting crane (1) (34) comprising: - A control manipulator (6) lifting speed for acquiring a lift instruction / affalement (CO) of the boom (34); - A lifting winch (4) incorporating a lifting motor (40) and at least one lifting cable (43) for driving the boom (34) lifting or in affinity; an inverter (7) controlling the tilt motor (40) by applying to said tilt motor (40) a motor control speed (VCM) in depending on the lifting / lowering setpoint (CO) from the control lever (6) of the lifting speed; an angle sensor (8) for measuring an angle of deflection (AN); a control / command system (9) shaped for: - acquire the angle of deflection (AN) measured by the angle sensor (8); calculating a true angular velocity of raising / lowering (ERV) of the arrow (34) from the measured angle of deflection (AN); - Acquire the motor control speed (VCM) or the tilt / lower set point (CO); calculating a theoretical angular rate of raising / lowering (VTH) of the boom (34) from the engine control speed (VCM) or the lifting / lowering setpoint (CO); - compare the actual angular velocity of lift / affalement (VRE) of the boom (34) and the theoretical angular velocity of raising / affeling (VTH) of the boom (34); - order the stopping of the tilt motor (40) as a function of the result of the comparison between the actual angular speed of raising / lowering (VRE) of the arrow (34) and the theoretical angular speed of raising / lowering (VTH) of the arrow (34). Grue (1) à flèche (34) relevable selon la revendication 7, dans laquelle la grue est une grue à tour à flèche relevable.A luffing crane (1) (34) according to claim 7, wherein the crane is a luffing tower tower crane.
EP18194339.0A 2017-09-28 2018-09-13 Method for securing a lifting boom crane and associated crane Active EP3466865B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1759018A FR3071489A1 (en) 2017-09-28 2017-09-28 METHOD FOR SECURING A CRANE ARROW CRANE AND ASSOCIATED CRANE

Publications (2)

Publication Number Publication Date
EP3466865A1 true EP3466865A1 (en) 2019-04-10
EP3466865B1 EP3466865B1 (en) 2020-07-29

Family

ID=60382395

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18194339.0A Active EP3466865B1 (en) 2017-09-28 2018-09-13 Method for securing a lifting boom crane and associated crane

Country Status (5)

Country Link
US (1) US11034554B2 (en)
EP (1) EP3466865B1 (en)
CN (1) CN109573842B (en)
ES (1) ES2828043T3 (en)
FR (1) FR3071489A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3120071A1 (en) * 2021-02-25 2022-08-26 Manitowoc Crane Group France Method for securing a tilting jib crane for securing an angular position of a tilting jib
FR3123642A1 (en) * 2021-06-07 2022-12-09 Manitowoc Crane Group France Self-erecting crane with configuration change operation control

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112010181A (en) * 2020-09-30 2020-12-01 程霖锋 Tower crane integrated frequency converter control system
CN114542534A (en) * 2022-02-25 2022-05-27 三一汽车起重机械有限公司 Amplitude falling hydraulic control method, amplitude falling hydraulic control system and engineering machinery

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010008155A1 (en) * 2010-02-16 2011-08-18 Wolffkran Holding Ag Luffing jib tower crane

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5215052A (en) * 1975-07-25 1977-02-04 Kurushima Dock:Kk Boom turning control apparatus
FR2641773B1 (en) 1989-01-18 1991-03-15 Potain Sa LIFT BOOM CRANE WITH BOOM RETURN DEVICE
US5282136A (en) * 1990-03-30 1994-01-25 Kabushiki Kaisha Kobe Seiko Sho Vertical releasing control device of crane hanging load
JP2004001987A (en) * 2002-03-25 2004-01-08 Hitachi Constr Mach Co Ltd Operation support device
FR2892405B1 (en) 2005-10-26 2007-12-07 Potain Soc Par Actions Simplif METHOD AND DEVICE FOR MOUNTING A CRANE WITH AN ADJUSTABLE ARROW
DE102007039408A1 (en) * 2007-05-16 2008-11-20 Liebherr-Werk Nenzing Gmbh Crane control system for crane with cable for load lifting by controlling signal tower of crane, has sensor unit for determining cable angle relative to gravitational force
JP4839390B2 (en) * 2009-04-17 2011-12-21 株式会社神戸製鋼所 Swing stop control device and method for swivel work machine
US8862419B2 (en) * 2011-04-19 2014-10-14 Honeywell International Inc. Crane jib attitude and heading reference system calibration and initialization
FI20115922A0 (en) * 2011-09-20 2011-09-20 Konecranes Oyj Crane control
CN102807159B (en) * 2012-08-13 2014-09-17 中联重科股份有限公司 Tower crane rotation control equipment, system and method and tower crane

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010008155A1 (en) * 2010-02-16 2011-08-18 Wolffkran Holding Ag Luffing jib tower crane

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3120071A1 (en) * 2021-02-25 2022-08-26 Manitowoc Crane Group France Method for securing a tilting jib crane for securing an angular position of a tilting jib
EP4049959A1 (en) * 2021-02-25 2022-08-31 Manitowoc Crane Group France Method for securing a tilting boom crane for securing an angular position of a tilting boom
US11919752B2 (en) 2021-02-25 2024-03-05 Manitowoc Crane Group France Method for securing a tilting jib crane for securing an angular position of a tilting jib
FR3123642A1 (en) * 2021-06-07 2022-12-09 Manitowoc Crane Group France Self-erecting crane with configuration change operation control
EP4101805A1 (en) * 2021-06-07 2022-12-14 Manitowoc Crane Group France Crane with automated assembly with control of the operations for changing configuration
US11866308B2 (en) 2021-06-07 2024-01-09 Manitowoc Crane Group France Self-erecting crane with control of the configuration change operations

Also Published As

Publication number Publication date
CN109573842A (en) 2019-04-05
US20190092606A1 (en) 2019-03-28
ES2828043T3 (en) 2021-05-25
FR3071489A1 (en) 2019-03-29
EP3466865B1 (en) 2020-07-29
CN109573842B (en) 2022-08-02
US11034554B2 (en) 2021-06-15

Similar Documents

Publication Publication Date Title
EP3466865B1 (en) Method for securing a lifting boom crane and associated crane
EP1925582B1 (en) Method and a device for mounting of wind turbine blades
EP2279978B1 (en) Drum tensioning method and apparatus for load hoist wire rope
KR101832516B1 (en) A method for controlling the orientation of a load suspended from a bearing wire about said bearing wire and a winch arrangement
RU2709322C2 (en) Crane, as well as monitoring method of overload protection device of said crane
EP2003333A1 (en) Method for mounting of at least two components of a wind turbine and use of a handling device
CN107250029B (en) Crane and method for monitoring overload protection of such crane
US10081519B2 (en) Tool for handling a long and heavy object
US20220073319A1 (en) A lifting assembly and a method for handling a component
CN110506024B (en) Method for mounting or dismounting a component of a wind turbine
JP6448098B2 (en) Saddle seat / hook system
CN116621053A (en) Crane with crane body
EP3466862B1 (en) Lifting boom crane with boom locking device in raised configuration
JP2010228900A (en) Load calculating device for crane and crane
CN111747311B (en) Crane with a movable crane
EP4053069B1 (en) Method for controlling lifting of a suspended load in the event of an emergency stop
JP2023104075A (en) Jib mooring device and jib mooring method
JP2001171974A (en) Safety device for mobile type crane
JP2012131635A (en) Crane

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20191001

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

RIC1 Information provided on ipc code assigned before grant

Ipc: B66C 23/82 20060101ALI20200110BHEP

Ipc: B66C 23/88 20060101AFI20200110BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20200221

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1295561

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200815

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602018006417

Country of ref document: DE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20200729

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1295561

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200729

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201029

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201030

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201130

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201029

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201129

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602018006417

Country of ref document: DE

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2828043

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20210525

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20200930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200913

26N No opposition filed

Effective date: 20210430

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200913

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200930

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210930

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210930

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20230920

Year of fee payment: 6

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230928

Year of fee payment: 6

Ref country code: DE

Payment date: 20230920

Year of fee payment: 6

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20231124

Year of fee payment: 6

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20230927

Year of fee payment: 6